Systems and methods for improving detection of a return signal in a light ranging and detection system

ABSTRACT

Described herein are systems and methods for improving detection of a return signal in a light ranging and detection system. The system comprises a transmitter and a receiver. A first sequence of pulses may be encoded with an anti-spoof signature and transmitted in a laser beam. A return signal, comprising a second sequence of pulses, may be received by the receiver and the anti-spoof signature extracted from the second sequence of pulses. If based on the extraction, the first and second sequences of pulses match, the receiver outputs return signal data. If based on the extraction, the first and second sequence of pulses do not match, the return signal is disregarded. The system may dynamically change the anti-spoofing signature for subsequent sequences of pulses. Additionally, the first sequence of pulses may be randomized relative to a prior sequence of pulses.

BACKGROUND A. Technical Field

The present disclosure relates generally to systems and methods forlight transmission and reception, and more particularly to improving thesecurity of light transmission and reception systems by applying uniqueand identifiable light pulse sequences to hinder spoofing of reflectedlight detected by the system(s).

B. Background

Light detection and ranging systems, such as a LIDAR system, operate bytransmitting a series of light pulses that reflect off objects. Thereflected signal, or return signal, is received by the light detectionand ranging system, and based on the detected time-of-flight (TOF), thesystem determines the range (distance) the system is located from theobject. Light detection and ranging systems may have a wide range ofapplications including autonomous driving and aerial mapping of asurface. These applications may place a high priority on the security,accuracy and reliability of the operation. If another partyintentionally or unintentionally distorts the laser beam or the returnsignal, the accuracy and reliability may be negatively impacted. Oneform of disruption may be a spoofing attack where a malicious partydistorts or impersonate the characteristics of the return signal.

Accordingly, what is needed are systems and methods for improvingdetection of a return signal in a light detection and ranging systemincluding mitigating the impact of a spoofing attack.

BRIEF DESCRIPTION OF THE DRAWINGS

References will be made to embodiments of the invention, examples ofwhich may be illustrated in the accompanying figures. These figures areintended to be illustrative, not limiting. Although the invention isgenerally described in the context of these embodiments, it should beunderstood that it is not intended to limit the scope of the inventionto these particular embodiments. Items in the figures are not to scale.

Figure (“FIG.”) 1 depicts the operation of a light detection and rangingsystem according to embodiments of the present document.

FIG. 2 illustrates the operation of a light detection and ranging systemand multiple return light signals according to embodiments of thepresent document.

FIG. 3A depicts a LIDAR system with a rotating mirror according toembodiments of the present document.

FIG. 3B depicts a LIDAR system with rotating electronics in arotor-shaft structure comprising a rotor and a shaft according toembodiments of the present document.

FIGS. 4A, 4B and 4C each depict an anti-spoofing signature according toembodiments of the present disclosure.

FIG. 5 depicts a system for mitigating spoofing of a return signal in alight detection and ranging system according to embodiments of thepresent disclosure.

FIGS. 6A and 6B depict flowcharts for mitigating spoofing of a returnsignal in a light detection and ranging system according to embodimentsof the present disclosure.

FIG. 7 depicts a simplified block diagram of a computingdevice/information handling system, in accordance with embodiments ofthe present document.

DETAILED DESCRIPTION OF EMBODIMENTS

In the following description, for purposes of explanation, specificdetails are set forth in order to provide an understanding of theinvention. It will be apparent, however, to one skilled in the art thatthe invention can be practiced without these details. Furthermore, oneskilled in the art will recognize that embodiments of the presentinvention, described below, may be implemented in a variety of ways,such as a process, an apparatus, a system, a device, or a method on atangible computer-readable medium.

Components, or modules, shown in diagrams are illustrative of exemplaryembodiments of the invention and are meant to avoid obscuring theinvention. It shall also be understood that throughout this discussionthat components may be described as separate functional units, which maycomprise sub-units, but those skilled in the art will recognize thatvarious components, or portions thereof, may be divided into separatecomponents or may be integrated together, including integrated within asingle system or component. It should be noted that functions oroperations discussed herein may be implemented as components. Componentsmay be implemented in software, hardware, or a combination thereof.

Furthermore, connections between components or systems within thefigures are not intended to be limited to direct connections. Rather,data between these components may be modified, re-formatted, orotherwise changed by intermediary components. Also, additional or fewerconnections may be used. It shall also be noted that the terms“coupled,” “connected,” or “communicatively coupled” shall be understoodto include direct connections, indirect connections through one or moreintermediary devices, and wireless connections.

Reference in the specification to “one embodiment,” “preferredembodiment,” “an embodiment,” or “embodiments” means that a particularfeature, structure, characteristic, or function described in connectionwith the embodiment is included in at least one embodiment of theinvention and may be in more than one embodiment. Also, the appearancesof the above-noted phrases in various places in the specification arenot necessarily all referring to the same embodiment or embodiments.

The use of certain terms in various places in the specification is forillustration and should not be construed as limiting. A service,function, or resource is not limited to a single service, function, orresource; usage of these terms may refer to a grouping of relatedservices, functions, or resources, which may be distributed oraggregated.

The terms “include,” “including,” “comprise,” and “comprising” shall beunderstood to be open terms and any lists the follow are examples andnot meant to be limited to the listed items. Any headings used hereinare for organizational purposes only and shall not be used to limit thescope of the description or the claims. Each reference mentioned in thispatent document is incorporate by reference herein in its entirety.

Furthermore, one skilled in the art shall recognize that: (1) certainsteps may optionally be performed; (2) steps may not be limited to thespecific order set forth herein; (3) certain steps may be performed indifferent orders; and (4) certain steps may be done concurrently.

A. Light Detection and Ranging System

A light detection and ranging system, such as a LIDAR system, may be atool to measure the shape and contour of the environment surrounding thesystem. LIDAR systems may be applied to numerous applications includingboth autonomous navigation and aerial mapping of a surface. LIDARsystems emit a light pulse that is subsequently reflected off an objectwithin the environment in which a system operates. The time each pulsetravels from being emitted to being received may be measured (i.e.,time-of-flight “TOF”) to determine the distance between the object andthe LIDAR system. The science is based on the physics of light andoptics.

In a LIDAR system, light may be emitted from a rapidly firing laser.Laser light travels through a medium and reflects off points of thingsin the environment like buildings, tree branches and vehicles. Thereflected light energy returns to a LIDAR receiver (detector) where itis recorded and used to map the environment.

FIG. 1 depicts operation 100 of a light detection and ranging components102 and data analysis & interpretation 109 according to embodiments ofthe present document. Light detection and ranging components 102 maycomprise a transmitter 104 that transmits emitted light signal 110,receiver 106 comprising a detector, and system control and dataacquisition 108. Emitted light signal 110 propagates through a mediumand reflects off object 112. Return light signal 114 propagates throughthe medium and is received by receiver 106. System control and dataacquisition 108 may control the light emission by transmitter 104 andthe data acquisition may record the return light signal 114 detected byreceiver 106. Data analysis & interpretation 109 may receive an outputvia connection 116 from system control and data acquisition 108 andperform data analysis functions. Connection 116 may be implemented witha wireless or non-contact communication method. Transmitter 104 andreceiver 106 may include optical lens and mirrors (not shown).Transmitter 104 may emit a laser beam having a plurality of pulses in aparticular sequence. In some embodiments, light detection and rangingcomponents 102 and data analysis & interpretation 109 comprise a LIDARsystem.

FIG. 2 illustrates the operation 200 of light detection and rangingsystem 202 including multiple return light signals: (1) return signal203 and (2) return signal 205 according to embodiments of the presentdocument. Light detection and ranging system 202 may be a LIDAR system.Due to the laser's beam divergence, a single laser firing often hitsmultiple objects producing multiple returns. The light detection andranging system 202 may analyze multiple returns and may report eitherthe strongest return, the last return, or both returns. Per FIG. 2,light detection and ranging system 202 emits a laser in the direction ofnear wall 204 and far wall 208. As illustrated, the majority of the beamhits the near wall 204 at area 206 resulting in return signal 203, andanother portion of the beam hits the far wall 208 at area 210 resultingin return signal 205. Return signal 203 may have a shorter TOF and astronger received signal strength compared with return signal 205. Lightdetection and ranging system 202 may record both returns only if thedistance between the two objects is greater than minimum distance. Inboth single and multiple return LIDAR systems, it is important that thereturn signal is accurately associated with the transmitted light signalso that an accurate TOF is calculated.

Some embodiments of a LIDAR system may capture distance data in a 2-D(i.e. single plane) point cloud manner. These LIDAR systems may be oftenused in industrial applications and may be often repurposed forsurveying, mapping, autonomous navigation, and other uses. Someembodiments of these devices rely on the use of a single laseremitter/detector pair combined with some type of moving mirror to effectscanning across at least one plane. This mirror not only reflects theemitted light from the diode, but may also reflect the return light tothe detector. Use of a rotating mirror in this application may be ameans to achieving 90-180-360 degrees of azimuth view while simplifyingboth the system design and manufacturability.

FIG. 3 depicts a LIDAR system 300 with a rotating mirror according toembodiments of the present document. LIDAR system 300 employs a singlelaser emitter/detector combined with a rotating mirror to effectivelyscan across a plane. Distance measurements performed by such a systemare effectively two-dimensional (i.e., planar), and the captureddistance points are rendered as a 2-D (i.e., single plane) point cloud.In some embodiments, but without limitations, rotating mirrors arerotated at very fast speeds e.g., thousands of revolutions per minute. Arotating mirror may also be referred to as a spinning mirror.

LIDAR system 300 comprises laser electronics 302, which comprises asingle light emitter and light detector. The emitted laser signal 301may be directed to a fixed mirror 304, which reflects the emitted lasersignal 301 to rotating mirror 306. As rotating mirror 306 “rotates”, theemitted laser signal 301 may reflect off object 308 in its propagationpath. The reflected signal 303 may be coupled to the detector in laserelectronics 302 via the rotating mirror 306 and fixed mirror 304.

FIG. 3B depicts a LIDAR system 350 with rotating electronics in arotor-shaft structure comprising a rotor 351 and a shaft 361 accordingto embodiments of the present document. Rotor 351 may have a cylindricalshape and comprise a cylindrical hole in the center of rotor 351. Shaft361 may be positioned inside the cylindrical hole. As illustrated, rotor351 rotates around shaft 361. These components may be included in aLIDAR system. Rotor 351 may comprise rotor components 352 and shaft 361may comprise shaft components 366. Included in rotor components 352 is atop PCB and included in shaft components 366 is a bottom PCB. In someembodiments, rotor components 352 may comprise light detection andranging components 102 and shaft components 366 may comprise dataanalysis & interpretation 109 of FIG. 1.

Coupled to rotor components 352 via connections 354 are ring 356 andring 358. Ring 356 and ring 358 are circular bands located on the innersurface of rotor 351 and provide electrode plate functionality for oneside of the air gap capacitor. Coupled to shaft components 366 viaconnections 364 are ring 360 and ring 362. Ring 360 and ring 362 arecircular bands located on the outer surface of shaft 361 and provideelectrode plate functionality for the other side of the air gapcapacitor. A capacitor C1 may be created based on a space between ring356 and ring 360. Another capacitor C2 may be created based on a spacebetween ring 358 and ring 362. The capacitance for the aforementionedcapacitors may be defined, in part, by air gap 368.

Ring 356 and ring 360 are the electrode plate components of capacitor C1and ring 358 and ring 362 are the electrode plate components ofcapacitor C2. The vertical gap 370 between ring 356 and ring 358 mayimpact the performance of a capacitive link between capacitor C1 andcapacitor C2 inasmuch as the value of the vertical gap 370 may determinea level of interference between the two capacitors. One skilled in theart will recognize that rotor 351 and shaft 361 may each comprise Nrings that may support N capacitive links.

As previously noted, time of flight or TOF is the method a LIDAR systemuses to map the environment and provides a viable and proven techniqueused for detecting target objects. Simultaneously, as the lasers fire,firmware within a LIDAR system may be analyzing and measuring thereceived data. The optical receiving lens within the LIDAR system actslike a telescope gathering fragments of light photons returning from theenvironment. The more lasers employed in a system, the more theinformation about the environment may be gathered. Single laser LIDARsystems may be at a disadvantage compared with systems with multiplelasers because fewer photons may be retrieved, thus less information maybe acquired. Some embodiments, but without limitation, of LIDAR systemshave been implemented with 8, 16, 32 and 64 lasers. Also, some LIDARembodiments, but without limitation, may have a vertical field of view(FOV) of 30-40° with laser beam spacing as tight as 0.3° and may haverotational speeds of 5-20 rotations per second.

The rotating mirror functionality may also be implemented with a solidstate technology such as MEMS.

B. Anti-Spoofing of a Return Signal

One objective of embodiments of the present documents is the creation ofa spoof-proof light detection and ranging system. As used herein, thelight detection and ranging system may be, but not limited to, a LIDARsystem.

A spoof-proof LIDAR system may have the ability to analyze a returnsignal comprising a sequence of pulses and match the received sequenceof pulses with a transmitted sequence of pulses in order to distinguishfrom other spurious pulses. As used herein, a return signal comprising asequence of pulses may be equivalent to a multiple return signal or asingle-return signal.

A spoof-proof system may be based on anti-spoofing signatures. Ananti-spoofing signature may uniquely identify a valid reflected lightsignal. An anti-spoofing signature may be encoded or embedded in thepulses that are subsequently fired by the LIDAR system. When the LIDARsystem receives a return signal, the LIDAR system may extract theanti-spoofing signature from the single-return or multiple return signaland determine if the decoded pulses of the received return signal matchthe pulses transmitted in the laser beam. If the pulses do match, thereturn signal may be considered authenticated and data may be decodedfrom the return signal pulses. If the pulses do not match, the returnsignal may be considered a spurious signal, and the return signal may bediscarded. Effectively, the system authenticates or validates the returnsignal using the characteristics of the transmitted pulses thatcomprises the embedded anti-spoofing signature. The system may identifyintentional or unintentional spurious return signals than mayerroneously trigger a bogus return signal calculation. That is, theLIDAR system may distinguish and confirm the transmitted pulses fromspurious pulses. Moreover, the system may include two features tomitigate spoofing of return signals:

First, the LIDAR system may dynamically change the characteristics ofthe pulses for the next or subsequent laser firing. As previouslydiscussed, the characteristics of the pulses may be defined by theanti-spoofing signature. This feature allows the LIDAR system to respondto a spoofing attack of spurious pulses. A malicious party may bemonitoring the transmitted laser beam or return signals in order tospoof the LIDAR system. With a static operation, rather than a dynamicoperation, for the anti-spoofing signature, the malicious party may beable to readily spoof the LIDAR system.

The LIDAR system may also dynamically change the signature for the nextfiring when the transmitted sequences of pulse match the return signalsequences of pulses. As noted, by dynamically changing the anti-spoofingsignature for the next laser firing, the potential for intentional orunintentional spoofing may be mitigated. Typically, the time for thetime of flight (TOF) for a laser beam to travel to an object and bereflected back to the LIDAR system is in the order of 0.5 to 2microseconds. In this time period, the LIDAR system may analyze thereturn signal and decide to change or not the signature for the nextlaser firing.

In various embodiments, the LIDAR system may also dynamically change thetransmitted sequence of pulses to include the anti-spoofing signature aswell as adapt the pulse sequence to the environment in which itoperates. For example, if a LIDAR system is employed within anautonomous navigation system, weather patterns and/or traffic congestionmay affect the manner in which the light signals propagate. In thisembodiment, the LIDAR system may adjust the pattern of light pulses tonot only uniquely identify it to a receiver but also to improveperformance of the system based on the environment in which it operates.

Second, to add another element of security, the LIDAR system mayrandomly alter transmitted pulses. Encoding based on a random algorithmmay be initiated by an instruction from a controller. This feature maybe beneficial to mitigate the impact of non-intentional return signals.Unintentional return signals may increase with the growth of autonomousdriving based on LIDAR systems.

Anti-spoofing signatures may be based, but without limitations, thenumber of pulses, the distance between pulses, the amplitude and ratioof amplitudes of the pulses and the shape of pulses. As an example ofone anti-spoofing signature, the number of pulses in a two firingsequences may comprise X pulses in a first sequence and Y pulses in asecond sequence, where X is not equal to Y.

FIGS. 4A, 4B and 4C each depict an anti-spoofing signature 400 accordingto embodiments of the present disclosure. In these figures, A representsthe amplitude of the pulses and di represents distance in the time line,T. FIG. 4A illustrates a sequence of four pulses where a variation ofdistances between each pulse may define the anti-spoofing signature. Forexample, the distance between pulse, P1, and pulse P2 may be distanced1. The distance between pulse, P2 and pulse P3 may be distance d2. Thedistance between pulse P3 and pulse P4 may be d3. As illustrated,d1>d3>d2.

FIG. 4B illustrates a sequence of three pulses where a variation of theamplitudes may define the anti-spoofing signature. For example, pulse P5may have an amplitude of a2. Pulse P6 may have an amplitude of a4. PulseP7 may have an amplitude of a3. As illustrated, a4>a3>a2. The signaturemay be based on a fixed ratio for the amplitudes of the pulses and/orthe signature may be based on variable ratios between pulses and/or thesignature may be based on the absolute amplitudes as defined bypre-determined or dynamic threshold.

FIG. 4C illustrates a sequence of three pulses where a variation ofpulse shapes may define the anti-spoofing signature. In the embodimentof FIG. 4C, the variation pulse shapes may be a variation of pulsewidths. For example, pulse P8 may have a pulse width of d4. Pulse P9 mayhave a pulse width of d5. Pulse P10 may have a pulse width of d6, asillustrated d5>d6>d4.

One skilled in the art will recognize that the anti-spoofing signaturesmay vary based on the application and environment in which embodimentsof the invention are implemented, all of which are intended to fallunder the scope of the invention. Anti-spoofing signatures may beutilized separately or in combination. Anti-spoofing signature detectionmay be implemented with fixed or variable thresholds.

FIG. 5 depicts a system 500 for mitigating spoofing of a return signalin a light ranging and detection system according to embodiments of thepresent disclosure. As used herein, an “anti-spoofing signature” may bereferred to as a “signature.” As previously discussed, an anti-spoofingsignature may be based on characteristics of pulses including variationsin the number of pulses in two or more sequences of pulses, variationsin the distances between pulses, variations of pulse amplitude ratios,or variations of pulse widths.

Signature extractor 524 may send a signal, which specifies a signatureto be embedded in a sequence of pulses, to anti-spoof encoder 506 andcontroller 504. Anti-spoof encoder 506 may generate, based on thespecified signature, signature encoding signal 507, which comprise thesequence of pulses with the embedded signature to be fired by laser 514.To create a randomized element in the sequences of pulses, randomencoder 508 (based on instructions from controller 504) may provide arandom adjustment to the current pulse sequence relative to a priorpulse sequence. Random encoder 508 is operable to randomize thecharacteristics of the sequences of pulses of the transmitted laser beamrelative to a prior sequence of transmitted pulses. Controller 504 mayinitiate a random adjustment to the current pulse sequence even if aspoofing attack has not been identified. Signature extractor 524 mayprovide controller 504 status for the anti-spoofing operation.

The signature encoding signal 507 may be coupled to multiplexer 510. Inturn, multiplexer 510 combines randomized signal 509 from random encoder508 and signature encoding signal 507 from anti-spoofing encoder 506. Anoutput of the multiplexer 510 may be coupled to transmitter 512, whichmay be coupled to laser 514. Upon receiving the pulse sequence from thetransmitter 512, laser 514 fires laser beam 516 that includes a sequenceof pulses with the embedded signature.

Light return signal 518 may be generated by a reflection off an objectby laser beam 516, and may be received by photo detector 520.Alternatively, light return signal 518 may be a spoof return signalgenerated by another light transmitter. The spoof return signal may bean intentional or unintentional return signal.

Photo detector 520 converts the signal from the optical domain to theelectrical domain and couples return signal information to receiver 522.Receiver 522 may output a digitized form of the return signalinformation to signature extractor 524 or an analog signal based on thespecific characteristics of the photo detector. Signature extractor 524processes the return signal information and extracts the signature inorder to authenticate or validates the return signal. If characteristicsof the pulse sequence of the return signal match characteristics of thetransmitted sequence of pulses, then the multiple return signal may beconsidered authenticated. Signature extractor may proceed to output data526. Signature extractor may also proceed to output alert 528, which maybe coupled to a higher-level controller.

If characteristics of the return signal sequence do not matchcharacteristics of the transmitted sequence of pulses, then the returnsignal may be considered not authenticated. In response, signatureextractor 524 may dynamically direct anti-spoof encoder 506 to selectanother signature for the next laser firing. In other words, signatureextractor 524 may dynamically change the anti-spoofing signature for anext sequence of pulses to be transmitted relative to a prior sequenceof transmitted pulses. The threshold for determining the matching of thepulses may be pre-determined or dynamically adjusted based on avariation of performance parameters.

Controller 504 receives environmental condition 502, which may includeinformation on weather, congestion, test/calibration/factory conditions.Based on environmental conditions 502 and instructions from signatureextractor 524, controller 504 may provide instructions for the operationof random encoder 508 and multiplexer 510.

FIGS. 6A and 6B depict flowcharts 600 and 650 for mitigating spoofing ofa return signal in a light ranging and detection system according toembodiments of the present disclosure. The method comprises thefollowing steps at a light ranging and detection system:

Selecting an anti-spoofing signature. (step 602)

Encoding a sequence of pulses with the anti-spoofing signature. (step606)

Activating an encoding random algorithm. (step 604) (optional)

Modify the sequence of pulses based on the encoding random algorithm, ifactivated. (step 608)

Firing a laser beam comprising the modified sequence of pulses. (step609)

At an object, generating a valid multiple return signal when the laserbeam reflects off the object. (step 610)

Or, at another light transmitter, generating a spurious multiple returnsignal. (step 611)

Receiving and decoding the received signal that comprises the validmultiple return signal or the spurious multiple return signal. (step612)

Extracting the anti-spoofing signature from the received signal. (step614)

Determining if pulse characteristics of the pulses in the receivedsignal match the pulse characteristics in the transmitted sequences ofpulses? (step 616)

If yes, generating a data output. (step 618)

If no, generate an alert (step 617) and repeat step 602.

Embodiments of the present document may include a system comprising asignature extractor operable for selecting an anti-spoofing signature;an anti-spoofing encoder operable to embed the anti-spoofing signaturein a transmitted laser beam comprises a sequence of pulses; acontroller; and a decoder operable to decode a return signal. Thesignature extractor extracts the anti-spoofing signature from thedecoded return signal and determines whether characteristics of thedecoded return signal match characteristics of the sequences of pulsesof the transmitted laser beam. If the decoded return signal matchescharacteristics of the transmitted laser beam, the signature extractorvalidates the decoded return signal and outputs data of the decodedreturn signal. If the decoded return signal does not matchcharacteristics of the transmitted laser beam, the signature extractorinvalidates the decoded return signal, disregards the decoded returnsignal and outputs an alert. For a next sequence of pulses to betransmitted, the signature extractor dynamically changes theanti-spoofing signature.

The system further comprises a random encoder operable to randomize thecharacteristics of the sequences of pulses of the transmitted laser beamrelative to a prior sequence of transmitted pulses. The controllerreceives environmental conditions that define characteristics for thesequence of pulses of the transmitted laser beam. The anti-spoofsignature is dynamically changed based on the environmental conditions.The anti-spoof signature is dynamically changed based on theenvironmental conditions. The characteristics for the sequences ofpulses of the transmitted laser beam are randomized based on theenvironmental conditions. The environmental conditions comprise weather,congestion, or test/calibration/factory conditions. the anti-spoofingsignature is based on characteristics of pulses including variations ina number of pulses in two or more sequences of pulses, variations indistances between pulses, variations of pulse amplitude ratios, orvariations of pulse widths.

C. System Embodiments

In embodiments, aspects of the present patent document may be directedto or implemented on information handling systems/computing systems. Forpurposes of this disclosure, a computing system may include anyinstrumentality or aggregate of instrumentalities operable to compute,calculate, determine, classify, process, transmit, receive, retrieve,originate, route, switch, store, display, communicate, manifest, detect,record, reproduce, handle, or utilize any form of information,intelligence, or data for business, scientific, control, or otherpurposes. For example, a computing system may be an optical measuringsystem such as a LIDAR system that uses time of flight to map objectswithin its environment. The computing system may include random accessmemory (RAM), one or more processing resources such as a centralprocessing unit (CPU) or hardware or software control logic, ROM, and/orother types of memory. Additional components of the computing system mayinclude one or more network or wireless ports for communicating withexternal devices as well as various input and output (I/O) devices, suchas a keyboard, a mouse, touchscreen and/or a video display. Thecomputing system may also include one or more buses operable to transmitcommunications between the various hardware components.

FIG. 7 depicts a simplified block diagram of a computingdevice/information handling system (or computing system) according toembodiments of the present disclosure. It will be understood that thefunctionalities shown for system 700 may operate to support variousembodiments of an information handling system—although it shall beunderstood that an information handling system may be differentlyconfigured and include different components.

As illustrated in FIG. 7, system 700 includes one or more centralprocessing units (CPU) 701 that provides computing resources andcontrols the computer. CPU 701 may be implemented with a microprocessoror the like, and may also include one or more graphics processing units(GPU) 717 and/or a floating point coprocessor for mathematicalcomputations. System 700 may also include a system memory 702, which maybe in the form of random-access memory (RAM), read-only memory (ROM), orboth.

A number of controllers and peripheral devices may also be provided, asshown in FIG. 7. An input controller 703 represents an interface tovarious input device(s) 704, such as a keyboard, mouse, or stylus. Theremay also be a wireless controller 705, which communicates with awireless device 706. System 700 may also include a storage controller707 for interfacing with one or more storage devices 708 each of whichincludes a storage medium such as flash memory, or an optical mediumthat might be used to record programs of instructions for operatingsystems, utilities, and applications, which may include embodiments ofprograms that implement various aspects of the present invention.Storage device(s) 708 may also be used to store processed data or datato be processed in accordance with the invention. System 700 may alsoinclude a display controller 709 for providing an interface to a displaydevice 711. The computing system 700 may also include an automotivesignal controller 712 for communicating with an automotive system 713. Acommunications controller 714 may interface with one or morecommunication devices 715, which enables system 700 to connect to remotedevices through any of a variety of networks including an automotivenetwork, the Internet, a cloud resource (e.g., an Ethernet cloud, anFiber Channel over Ethernet (FCoE)/Data Center Bridging (DCB) cloud,etc.), a local area network (LAN), a wide area network (WAN), a storagearea network (SAN) or through any suitable electromagnetic carriersignals including infrared signals.

In the illustrated system, all major system components may connect to abus 716, which may represent more than one physical bus. However,various system components may or may not be in physical proximity to oneanother. For example, input data and/or output data may be remotelytransmitted from one physical location to another. In addition, programsthat implement various aspects of this invention may be accessed from aremote location (e.g., a server) over a network. Such data and/orprograms may be conveyed through any of a variety of machine-readablemedium including, but are not limited to: magnetic media such as harddisks, floppy disks, and magnetic tape; optical media such as CD-ROMsand holographic devices; magneto-optical media; and hardware devicesthat are specially configured to store or to store and execute programcode, such as application specific integrated circuits (ASICs),programmable logic devices (PLDs), flash memory devices, and ROM and RAMdevices.

Embodiments of the present invention may be encoded upon one or morenon-transitory computer-readable media with instructions for one or moreprocessors or processing units to cause steps to be performed. It shallbe noted that the one or more non-transitory computer-readable mediashall include volatile and non-volatile memory. It shall be noted thatalternative implementations are possible, including a hardwareimplementation or a software/hardware implementation.Hardware-implemented functions may be realized using ASIC(s),programmable arrays, digital signal processing circuitry, or the like.Accordingly, the “means” terms in any claims are intended to cover bothsoftware and hardware implementations. Similarly, the term“computer-readable medium or media” as used herein includes softwareand/or hardware having a program of instructions embodied thereon, or acombination thereof. With these implementation alternatives in mind, itis to be understood that the figures and accompanying descriptionprovide the functional information one skilled in the art would requireto write program code (i.e., software) and/or to fabricate circuits(i.e., hardware) to perform the processing required.

It shall be noted that embodiments of the present invention may furtherrelate to computer products with a non-transitory, tangiblecomputer-readable medium that have computer code thereon for performingvarious computer-implemented operations. The media and computer code maybe those specially designed and constructed for the purposes of thepresent invention, or they may be of the kind known or available tothose having skill in the relevant arts. Examples of tangiblecomputer-readable media include, but are not limited to: magnetic mediasuch as hard disks, floppy disks, and magnetic tape; optical media suchas CD-ROMs and holographic devices; magneto-optical media; and hardwaredevices that are specially configured to store or to store and executeprogram code, such as application specific integrated circuits (ASICs),programmable logic devices (PLDs), flash memory devices, and ROM and RAMdevices. Examples of computer code include machine code, such asproduced by a compiler, and files containing higher level code that areexecuted by a computer using an interpreter. Embodiments of the presentinvention may be implemented in whole or in part as machine-executableinstructions that may be in program modules that are executed by aprocessing device. Examples of program modules include libraries,programs, routines, objects, components, and data structures. Indistributed computing environments, program modules may be physicallylocated in settings that are local, remote, or both.

One skilled in the art will recognize no computing system or programminglanguage is critical to the practice of the present invention. Oneskilled in the art will also recognize that a number of the elementsdescribed above may be physically and/or functionally separated intosub-modules or combined together.

It will be appreciated to those skilled in the art that the precedingexamples and embodiments are exemplary and not limiting to the scope ofthe present disclosure. It is intended that all permutations,enhancements, equivalents, combinations, and improvements thereto thatare apparent to those skilled in the art upon a reading of thespecification and a study of the drawings are included within the truespirit and scope of the present disclosure. It shall also be noted thatelements of any claims may be arranged differently including havingmultiple dependencies, configurations, and combinations.

1-20. (canceled)
 21. A light detection and ranging (LiDAR) method,comprising: emitting, by a laser emitter of a LiDAR system, a firstlight signal comprising a sequence of optical pulses; receiving, by aphoto detector of the LiDAR system, a second light signal; converting,by the photo detector, the second light signal into an electricalsignal; determining, based on processing of the electrical signal,whether a particular signal pattern is present in the second lightsignal, wherein the processing of the electrical signal comprisesextracting, from the electrical signal, a sequence of electrical pulsescorresponding to the sequence of optical pulses; determining anattribute of a source of the second light signal based on whether theparticular signal pattern is determined to be present in the secondlight signal; and determining, based on the processing of the electricalsignal, a distance between the photo detector and the source of thesecond light signal.
 22. The method of claim 21, wherein the processingof the electrical signal further comprises analyzing a shape of aplurality of pulses in the electrical signal.
 23. The method of claim21, wherein the processing of the electrical signal further comprisesanalyzing at least one attribute of the electrical signal selected froma group consisting of shape, amplitude, and variation.
 24. The method ofclaim 21, wherein: the source of the second light signal is a reflectionof the first light signal from an object in an environment of the LiDARsystem, and the determined attribute of the source of the second lightsignal relates to a shape or contour of the object.
 25. The method ofclaim 21, further comprising controlling an operation of an automobilebased on processing of the electrical signal.
 26. The method of claim21, wherein the laser emitter is a diode.
 27. The method of claim 21,wherein the laser emitter and the photo detector of the LiDAR system aredisposed on a rotor of a rotor-shaft structure, and wherein theprocessing of the electrical signal is performed by a component disposedon a shaft of the rotor-shaft structure.
 28. The method of claim 21,wherein a vertical field of view of the LiDAR system is between 30 and40 degrees.
 29. The method of claim 21, wherein an azimuth field of viewof the LiDAR system is between 90 and 360 degrees.
 30. The method ofclaim 21, wherein the LiDAR system further comprises a plurality ofother laser emitters and photo detectors.
 31. A light detection andranging (LiDAR) system, comprising: a laser emitter operable to emit afirst light signal comprising a sequence of optical pulses; a photodetector operable to receive a second light signal and convert thesecond light signal into an electrical signal; and a computing deviceconfigured to perform operations including: determining, based onprocessing of the electrical signal, whether a particular signal patternis present in the second light signal, wherein the processing of theelectrical signal comprises extracting, from the electrical signal, asequence of electrical pulses corresponding to the sequence of opticalpulses; determining an attribute of a source of the second light signalbased on whether the particular signal pattern is determined to bepresent in the second light signal; and determining, based on theprocessing of the electrical signal, a distance between the photodetector and the source of the second light signal.
 32. The LiDAR systemof claim 31, wherein the processing of the electrical signal furthercomprises analyzing a shape of a plurality of pulses in the electricalsignal.
 33. The LiDAR system of claim 31, wherein the processing of theelectrical signal further comprises analyzing at least one attribute ofthe electrical signal selected from a group consisting of shape,amplitude, and variation.
 34. The LiDAR system of claim 31, wherein: thesource of the second light signal is a reflection of the first lightsignal from an object in an environment of the LiDAR system, and thedetermined attribute of the source of the second light signal relates toa shape or contour of the object.
 35. The LiDAR system of claim 31,wherein the operations further include controlling an operation of anautomobile based on processing of the electrical signal.
 36. The LiDARsystem of claim 31, wherein the laser emitter is a diode.
 37. The LiDARsystem of claim 31, wherein the laser emitter and the photo detector aredisposed on a rotor of a rotor-shaft structure, and wherein theprocessing of the electrical signal is performed by a component disposedon a shaft of the rotor-shaft structure.
 38. The LiDAR system of claim31, wherein a vertical field of view of the LiDAR system is between 30and 40 degrees.
 39. The LiDAR system of claim 31, wherein an azimuthfield of view of the LiDAR system is between 90 and 360 degrees.
 40. TheLiDAR system of claim 31, further comprising a plurality of other laseremitters and photo detectors.